Single App Unable to Start ipadOS 13

I am attempting to get a new iPad running an enterprise app to run in single app mode. However, I get the following error:


An unexpected error has occured with "iPad".


The profile must be installed using a device management tool. [MCInstallationErrorDomain - 0xFB4 (4020)]


I have the ipad on ipadOS 13 because the app is utilizing some of the new USB/SD file management features.


I am not sure how to fix this issue as I have wiped the device several times and get the same error, and I get the same error regadless of what app I try to run in single app mode. I am trying to run Safari assuming that is a safe app, yet it still throws the error.